CN114103952B - Travel control device and travel control method - Google Patents
Travel control device and travel control method Download PDFInfo
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- CN114103952B CN114103952B CN202110946291.3A CN202110946291A CN114103952B CN 114103952 B CN114103952 B CN 114103952B CN 202110946291 A CN202110946291 A CN 202110946291A CN 114103952 B CN114103952 B CN 114103952B
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 238000004891 communication Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 12
- 101001124039 Banna virus (strain Indonesia/JKT-6423/1980) Non-structural protein 4 Proteins 0.000 description 6
- 238000013527 convolutional neural network Methods 0.000 description 4
- 101000723661 Homo sapiens Zinc finger protein 703 Proteins 0.000 description 3
- 102100028376 Zinc finger protein 703 Human genes 0.000 description 3
- 239000004065 semiconductor Substances 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 101000933041 His1 virus (isolate Australia/Victoria) Major capsid protein Proteins 0.000 description 1
- 101000744919 Homo sapiens Zinc finger protein 503 Proteins 0.000 description 1
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- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- 230000035945 sensitivity Effects 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0255—Automatic changing of lane, e.g. for passing another vehicle
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- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides a travel control device and a travel control method. Provided is a travel control device capable of reducing a lane change which is not assumed by a driver at the front and rear of a lane-free section. The travel control device is provided with: a lane-free section detection unit that detects a lane-free section having no lane in front of a current position of the vehicle within a predetermined distance from the current position; a position maintaining unit that controls the travel of the vehicle so as to maintain the position of the vehicle relative to the width of the entire road in the lane-free section; and a lane changing unit that controls the travel of the vehicle so as to move to a lane with a large overlap with the vehicle in preference to the position maintaining unit when the expected position of the vehicle at the end of the lane-free section crosses the lane dividing line.
Description
Technical Field
The present invention relates to a travel control device and a travel control method for automatically controlling travel of a vehicle.
Background
A travel control device is known that automatically controls travel of a vehicle based on a surrounding image generated by a camera mounted on the vehicle. The travel control device detects a lane division line from the surrounding image and controls the travel of the vehicle so as to travel in the lane divided by the lane division line.
Patent document 1 describes a vehicle control system that determines the behavior of a host vehicle and performs automatic driving. The vehicle control system described in patent document 1 acquires information on the travel history of another vehicle in a section where the division line cannot be recognized from an external device, and determines the behavior of the vehicle based on the travel history acquired from the external device when the section where the division line cannot be recognized exists.
Prior art literature
Patent literature
Patent document 1: international publication No. 2018/123014
Disclosure of Invention
In a road where the number of lanes before and after a section (lane-free section) where a division line cannot be recognized is changed, the lanes before and after the lane-free section do not correspond one-to-one. Therefore, the travel control device cannot uniquely determine the lane to travel after the lane-free section based on the position of the lane to travel before the lane-free section. As a result, the travel control device may perform control to implement a lane change which is not assumed by the driver on a road in which there is no change in the number of front and rear lanes in the lane segment.
The purpose of the present invention is to provide a travel control device capable of reducing lane changes that are not assumed by a driver before and after a lane-free section.
The travel control device according to the present invention includes: a lane-free section detection unit that detects a lane-free section having no lane in front of a current position of the vehicle within a predetermined distance from the current position; a position maintaining unit that controls the travel of the vehicle so as to maintain the position of the vehicle relative to the width of the entire road in the lane-free section; and a lane changing unit that controls the travel of the vehicle so as to move to a lane with a large overlap with the vehicle in preference to the position maintaining unit when the expected position of the vehicle at the end of the lane-free section crosses the lane dividing line.
In the travel control device of the present invention, when the overlap with the vehicle is equal in each of the 2 lanes of the lane division line divided by the expected position of the vehicle, the lane changing unit controls the travel of the vehicle so as to move to the lane on the side where the travel lane is arranged on the road.
In the travel control device of the present invention, when the overlap with the vehicle is equal in each of 2 lanes of the lane division line divided by the expected position of the vehicle, the lane changing unit controls the travel of the vehicle so as to move to a lane having a large distance to the preceding vehicle among the lanes when the vehicle reaches the expected position.
The travel control device of the present invention further includes a notification unit that notifies a driver of the vehicle of a request to keep the steering wheel from when the lane-free section is detected to when the vehicle reaches the lane-free section.
The travel control device of the present invention further includes a steering control unit that reduces a reaction force against an operation to the steering wheel during travel in the lane-free section, as compared with a reaction force during travel in a section other than the lane-free section.
The travel control method according to the present invention includes: the method includes detecting a lane-free section having no lane in front of a current position of the vehicle within a predetermined distance, controlling travel of the vehicle so that a position of the vehicle with respect to the entire width of the road is maintained in the lane-free section, and controlling travel of the vehicle so that the vehicle moves to a lane having a large overlap with the vehicle in preference to control of the vehicle when an expected position of the vehicle at the end of the lane-free section crosses a lane dividing line.
According to the travel control device of the present invention, it is possible to reduce a lane change which is not assumed by the driver at the front and rear of the lane-free section.
Drawings
Fig. 1 is a schematic configuration diagram of a vehicle to which a travel control device is attached.
Fig. 2 is a hardware schematic diagram of the travel control device.
Fig. 3 is a functional block diagram of a processor included in the travel control device.
Fig. 4 is a diagram illustrating example 1 of travel control.
Fig. 5 is a diagram illustrating example 2 of travel control.
Fig. 6 is a diagram illustrating example 3 of travel control.
Fig. 7 is a flowchart of the travel control process.
(symbol description)
1: a vehicle; 7: a travel control device; 731: a lane-free section detection unit; 732: a position maintaining unit; 733: a lane changing unit; 734: a notification unit; 735: steering control unit.
Detailed Description
Hereinafter, a travel control device capable of reducing a lane change which is not assumed by a driver at the front and rear of a lane-free section will be described in detail with reference to the accompanying drawings. The travel control device detects a lane-free section without a lane in front of a predetermined range from the current position of the vehicle. The travel control device controls the travel of the vehicle so as to maintain the position of the vehicle relative to the width of the entire road in the lane-free section. When the expected position of the vehicle at the end of the lane-free section crosses the lane dividing line, the travel control device controls the travel of the vehicle so as to move to a lane where the overlap with the vehicle is large.
Fig. 1 is a schematic configuration diagram of a vehicle to which a travel control device is attached.
The vehicle 1 has a camera 2, a steering wheel 3, an instrument display 4, a GNSS receiver 5, a storage device 6, and a travel control device 7. The camera 2, steering wheel 3, instrument display 4, GNSS receiver 5, and storage device means 6 and travel control means 7 are communicatively connected via an in-vehicle network in accordance with a standard such as a controller area network.
The camera 2 is an example of a sensor for detecting a condition in the vicinity of the vehicle. The camera 2 includes a two-dimensional detector including an array of photoelectric conversion elements having sensitivity to infrared light, such as a CCD or a C-MOS, and an imaging optical system for imaging an image of a region to be photographed on the two-dimensional detector. The camera 2 is disposed, for example, in a front upper portion of the vehicle interior so as to face forward, and photographs the surrounding situation of the vehicle 1 through the front glass every predetermined photographing period (for example, 1/30 seconds to 1/10 seconds), and outputs an image corresponding to the surrounding situation.
The steering wheel 3 is an example of a driving operation receiving unit that receives an operation of a driver requesting an operation of a steering mechanism of the steering vehicle 1. The operation to request the operation of the steering mechanism is, for example, an operation to rotate the steering wheel 3 rightward or leftward. The vehicle 1 includes an accelerator pedal and a brake pedal, not shown, as other driving operation receiving units.
The meter display 4 is an example of a display unit, and has a liquid crystal display, for example. The meter display 4 displays information related to the running of the vehicle 1 to the driver in a visually recognizable manner in accordance with a signal received from the running control device 7 via the in-vehicle network.
The GNSS receiver 5 receives GNSS signals from GNSS (Global Navigation Satellite System ) satellites every predetermined period, and locates the position of the vehicle 1 based on the received GNSS signals. The GNSS receiver 5 outputs a positioning signal indicating a positioning result of the position of the vehicle 1 based on the GNSS signal to the travel control device 7 via the in-vehicle network for each predetermined period.
The storage device apparatus 6 is an example of a storage unit, and includes, for example, a hard disk device or a nonvolatile semiconductor memory. The storage device apparatus 6 stores a high-precision map. The high-precision map includes, for example, information indicating lane lines for each road included in a predetermined area shown in the high-precision map.
The travel control device 7 is an ECU (Electronic Control Unit ) having a communication interface, a memory, and a processor. The travel control device 7 detects a lane-free section in front of the vehicle 1 from the image received from the camera 2 via the communication interface, and controls the travel of the vehicle in the lane-free section.
Fig. 2 is a hardware schematic diagram of the travel control device 7. The travel control device 7 includes a communication interface 71, a memory 72, and a processor 73.
The communication interface 71 is an example of a communication unit, and includes a communication interface circuit for connecting the travel control device 7 to an in-vehicle network. The communication interface 71 supplies the received data to the processor 73. The communication interface 71 outputs data supplied from the processor 73 to the outside.
The memory 72 is an example of a storage unit, and includes a volatile semiconductor memory and a nonvolatile semiconductor memory. The memory 72 stores various data used in the processing by the processor 73, for example, a distance threshold value of a distance range from the current position to the front determined as a detection target of the lane-free section, travel lane direction information indicating a direction in which a travel lane is arranged on a road, and the like. The memory 72 stores various application programs, for example, a travel control program for executing a travel control process.
The processor 73 is an example of a control unit, and has 1 or more processors and peripheral circuits thereof. The processor 73 may further include other arithmetic circuits such as a logic arithmetic unit, a numerical arithmetic unit, and a graphics processing unit.
Fig. 3 is a functional block diagram of the processor 73 included in the travel control device 7.
The processor 73 of the travel control device 7 includes, as functional blocks, a lane-free section detection unit 731, a position maintenance unit 732, a lane change unit 733, a notification unit 734, and a steering control unit 735. These parts of the processor 73 are functional modules installed by a program executed on the processor 73. Alternatively, each of these parts of the processor 73 may be mounted to the travel control device 7 as a separate integrated circuit, a microprocessor, or firmware.
The lane-free section detection unit 731 detects a lane line in front of the vehicle 1 by inputting an image received from the camera 2 via the communication interface to a recognizer that is learned in advance to detect the lane line. The lane dividing line is a lane dividing line displayed on the road to distinguish lanes.
The identifier can be configured as a Convolutional Neural Network (CNN) having a plurality of layers connected in series from an input side toward an output side, for example. By inputting an image including a lane-dividing line as teacher data in advance to the CNN and learning, the CNN acts as a recognizer that detects the image including the lane-dividing line.
The lane-free section detection unit 731 detects a lane-free section in the front direction within a predetermined distance from the current position of the vehicle, based on the lane-dividing line detected from the received image. When 3 or more lane lines are detected in the horizontal direction of the image, the lane-free section detection unit 731 determines that the road divided by the lane lines at the left and right ends is divided into a plurality of lanes by the lane line between them. When a lane segment segmented into a plurality of lanes, a segment in which only 2 lane segments are detected, and a lane segment are sequentially detected from the lower end toward the upper end of the image, the lane-free segment detection unit 731 determines that the segment in which only 2 lane segments are detected is a lane-free segment.
The lane-free section detection unit 731 may detect a lane-free section based on a high-precision map stored in the storage device 6. For example, the lane-free segment detection unit 731 receives a positioning signal from the GNSS receiver 5. The lane-free section detection unit 731 acquires a high-precision map of the location corresponding to the positioning signal from the storage device 6. Then, the lane-free section detection unit 731 detects a lane-free section based on the information of the lane dividing line in the high-precision map.
The position maintaining unit 732 outputs a control signal to a running mechanism (not shown) of the vehicle 1 via the input/output interface so as to maintain the position of the vehicle with respect to the width of the entire road in the lane-free section. The running mechanism includes, for example, an engine that supplies power to the vehicle 1, a brake that reduces the running speed of the vehicle 1, and a steering mechanism that steers the vehicle 1.
The position maintaining unit 732 detects the distance between lane lines at the positions closest to the left and right ends of the horizontal direction of the image among the lane lines detected from the image as the width of the entire road. Then, the position maintaining unit 732 controls the running of the vehicle 1 so that the ratio of the width of the entire road to the horizontal distance from the lane line at one end (for example, the left end) in the horizontal direction to the predetermined position (for example, the center line in the left-right direction) of the vehicle 1 becomes constant.
The width of the entire road may include a portion other than a lane such as a road shoulder. For example, the position maintaining unit 732 may detect the width in the horizontal direction of the area identified as the road by the identifier that identifies the road area as the width of the entire road, and may include a portion other than the lane in the area identified as the road at this time.
The lane changing unit 733 outputs a control signal to the traveling mechanism of the vehicle 1 so as to move to a lane where the vehicle 1 overlaps with a large area when the expected position of the vehicle 1 at the end of the lane-free section crosses the lane dividing line.
The lane changing unit 733 determines that the vehicle 1 has crossed the lane marking when the distance in the horizontal direction from the lane marking at the one end (for example, the left end) in the horizontal direction at the lane-free section end point is the lane marking between the distance to the left end of the vehicle 1 and the distance to the right end of the vehicle. Then, the lane on the side of the left end of the vehicle 1 and the right end of the vehicle 1, which is the long side of the horizontal direction distance from the lane dividing line, is determined as the lane with large overlap with the vehicle 1.
The notification unit 734 transmits a display signal for displaying information for notifying the driver of the vehicle 1 of the request to keep the steering wheel 3 to the meter display 4 via the communication interface 71 from the detection of the lane-free section to the arrival of the vehicle 1 at the lane-free section. The information for notifying the driver of the vehicle 1 of the holding request of the steering wheel 3 is, for example, an article such as "please hold the steering wheel", an image showing how the steering wheel is held, or the like. The notification unit 734 may transmit an audio signal for reproducing the audio for notifying the holding request of the steering wheel to an in-vehicle speaker (not shown) via the communication interface 71.
The steering control unit 735 sets a reaction force to an operation performed by the driver of the vehicle 1 to the steering wheel 3. The steering control unit 735 transmits a reaction force setting signal for setting a reaction force to a steering controller (not shown) that controls an actuator (not shown) provided in the steering wheel 3 via the communication interface 71. The steering control unit 735 sends a reaction force setting signal to the steering controller so that the reaction force is reduced during travel in the lane-free section as compared with the reaction force during travel in a section other than the lane-free section.
By performing control to reduce the reaction force of the steering wheel 3 by the steering control unit 735 during the lane-free running, the driver can steer the steering wheel 3 with a smaller force.
Fig. 4 is a diagram showing example 1 of travel control.
The vehicle 1 travels upward from below the drawing at the position A1. At this time, the lane-free section detecting section 731 of the vehicle 1 detects 5 lane division lines LL111 to LL115 in the horizontal direction of the image from the image photographed by the camera 2. Since 3 or more lane dividing lines are detected in the horizontal direction of the image, the section of the road on which the vehicle 1 is currently traveling is a lane section LZ11 divided into a plurality of lanes. That is, the position A1 is included in the 2 nd lane L112 from the left in the lane section LZ11.
At the position A1, the lane-free section detection unit 731 detects the lane-free section NLZ1 in which only 2 of the lane division lines LL111 and LL115 are detected in the horizontal direction of the image. The lane-free section detection unit 731 detects a lane section LZ12 in which 4 lane lines LL111, LL121, LL122, LL115 are detected in the horizontal direction of the image.
The width of the entire road at the position A1 of the lane section LZ11 is RW11 which is the interval between the lane-dividing line LL111 at the left end and the lane-dividing line LL115 at the right end. The distance from the lane-dividing line LL111 at the left end to the center line in the left-right direction of the vehicle 1 is VP11. The position maintaining unit 732 controls the travel of the vehicle 1 so that the ratio of the width of the entire road to the horizontal distance from the lane line at the left end to the center line in the left-right direction of the vehicle 1 becomes a constant VP11/RW 11.
Using RW12 and constant VP11/RW11, which are the widths of the entire road at position A2, the distance VP12 in the horizontal direction from the lane dividing line at the left end to the center line in the left-right direction of the vehicle 1 at position A2 of the lane-free zone NLZ1 is set as described below.
VP12＝RW12×VP11/RW11
Using RW13, which is the width of the entire road, at the position A3 and the constant VP11/RW11 at the position A1, the distance VP13 in the horizontal direction from the lane division line at the left end to the center line in the left-right direction of the vehicle 1 at the position A3 at which the lane-free zone NLZ1 ends is set as described below.
VP13＝RW13×VP11/RW11
The position maintaining unit 732 controls the travel of the vehicle 1 so as to travel on the route R11 from the position A1 to the position A3 via the position A2.
At the position A3, the distance from the lane-dividing line LL111 to the lane-dividing line LL121 at the left end is between the distance from the lane-dividing line LL111 to the left end A3l of the vehicle 1 at the left end and the distance from the lane-dividing line LL111 to the right end A3r of the vehicle 1 at the left end. Therefore, the lane changing unit 733 determines that the vehicle 1 crosses the lane marking LL121 at the position A3. Based on this determination, the lane changing unit 733 controls the traveling of the vehicle 1 so as to move to a lane where the overlap with the vehicle 1 is large.
The distance from the left end A3l of the vehicle 1 to the lane-dividing line LL121 is OW11. In addition, the distance from the lane-dividing line LL121 to the right end A3r of the vehicle 1 is OW12 longer than OW11. Therefore, the lane changing unit 733 determines the lane L122, in which the right end A3r of the vehicle is located, that is, the lane L122, which is divided by the lane dividing line LL121 and the lane dividing line LL122, as the lane with large overlap with the vehicle 1.
The lane changing unit 733 then controls the travel of the vehicle 1 so that the vehicle 1 travels along the path R12 toward the position A4 in the 2 nd lane L122 from the left.
Fig. 5 is a diagram showing example 2 of travel control.
The vehicle 1 travels upward from below the drawing at a position B1. The position B1 is included in the lane section LZ21 in the 2 nd lane L212 from the left. In the lane-free zone NLZ2 in front of the vehicle 1, the position maintaining unit 732 controls the travel of the vehicle 1 so that the ratio of the width of the entire road to the horizontal distance from the lane line at the left end to the center line in the left-right direction of the vehicle 1 becomes a constant VP21/RW21 indicating the ratio at the position B1.
The position maintaining unit 732 controls the travel of the vehicle 1 so as to travel on the route R21 from the position B1 to the position B3 via the position B2.
At the position B3, the vehicle 1 crosses the lane-dividing line LL221. At this time, the distance OW21 from the left end B3l of the vehicle 1 to the lane-dividing line LL221 is equal to the distance OW22 from the lane-dividing line LL221 to the right end B3r of the vehicle 1. That is, in the lanes L221 and L222 divided by the lane dividing line LL221, the overlap with the vehicle 1 is equal.
At this time, the lane changing unit 733 controls the traveling of the vehicle 1 so as to move to the lane on the side where the traveling lane is arranged.
The lane changing unit 733 determines a lane on which the driving lane is arranged, based on the driving lane direction information stored in the memory 72. For example, the lane changing unit 733 determines the lane L221 on the left side of the lanes L221 and L222 in the traveling direction as the lane on the side where the traveling lane is arranged, based on the traveling lane direction information indicating that the direction where the traveling lane is arranged is left.
Then, the lane changing unit 733 controls the traveling of the vehicle 1 so that the vehicle 1 travels along the path R22 toward the position B4 in the lane L221.
Fig. 6 is a diagram showing example 3 of travel control.
The vehicle 1 travels upward from below the drawing at a position C1. The position C1 is included in the lane section LZ31 in the 2 nd lane L312 from the left. In the lane-free zone NLZ3 in front of the vehicle 1, the position maintaining unit 732 controls the travel of the vehicle 1 so that the ratio of the width of the entire road to the horizontal distance from the lane line at the left end to the center line in the left-right direction of the vehicle 1 becomes a constant VP31/RW31 indicating the ratio at the position C1.
The position maintaining unit 732 controls the travel of the vehicle 1 so as to travel on the route R31 from the position C1 to the position C3 via the position C2.
At the position C3, the vehicle 1 crosses the lane-dividing line LL321. At this time, the distance OW31 from the left end C3l of the vehicle 1 to the lane-dividing line LL321 is equal to the distance OW32 from the lane-dividing line LL321 to the right end C3r of the vehicle 1. That is, in the lanes L321 and L322 divided by the lane dividing line LL321, the overlap with the vehicle 1 is equal.
At this time, the lane changing unit 733 controls the traveling of the vehicle 1 so as to move to a lane having a large distance to the preceding vehicle among the respective lanes when the vehicle 1 reaches the position C3.
The lane changing unit 733 determines the distance to the preceding vehicle so that the distance to the preceding vehicle located above becomes larger, for example, based on the position in the up-down direction in the image captured by the camera 2. The lane changing unit 733 determines the speed of the preceding vehicle from the change in distance to the preceding vehicle due to the speed of the vehicle 1 and time. Then, the lane changing unit 733 estimates the distance to the preceding vehicle when the vehicle 1 reaches the position C3 based on the distance to the preceding vehicle, the speed of the vehicle 1, and the distance to the position C3. In the example of fig. 6, when the vehicle 1 reaches the position C3, the distance to the preceding vehicle V1 in the lane L321 is D1, and the distance to the preceding vehicle V2 in the lane L322 is D2 larger than D1.
The lane changing unit 733 may determine the distance to the preceding vehicle so that the distance to the preceding vehicle having a smaller horizontal size becomes larger based on the horizontal size in the image captured by the camera 2. The lane changing unit 733 may determine the distance to the preceding vehicle from a distance image having a value corresponding to the distance to the object for each pixel, which is acquired by a LiDAR (Light Detection and Ranging) sensor (not shown).
The lane changing unit 733 controls the traveling of the vehicle 1 so that the vehicle 1 travels along a path R32 toward a position C4 within the lane L322 where the distance to the preceding vehicle is greater.
Fig. 7 is a flowchart of the travel control process. The travel control device 7 repeatedly executes processing at predetermined time intervals (for example, at 1/10 second intervals) while the vehicle 1 is traveling.
First, the lane-free section detection unit 731 determines whether or not a lane-free section is detected in front of the current position of the vehicle 1 within a predetermined distance (step S1), and if not (step S1: no), the processor 73 of the travel control device 7 ends the travel control process. When the lane-free section is detected in the front direction (yes in step S1), the position maintaining unit 732 controls the travel of the vehicle 1 so that the position of the vehicle 1 with respect to the width of the entire road is maintained in the lane-free section (step S2). Next, the lane changing unit 733 determines whether or not the expected position of the vehicle 1 at the end of the lane-free section crosses the lane dividing line (step S3). When it is determined that the lane marking is crossed (yes in step S3), the lane changing unit 733 controls the travel of the vehicle 1 so as to move to the lane where the overlap with the vehicle is large (step S4), and ends the travel control process. When it is determined that the lane marking is not crossed (no in step S3), the processor 73 of the travel control device 7 ends the travel control process.
By executing the travel control processing in this way, the travel control device 7 can reduce a lane change which is not assumed by the driver at the front and rear of the lane-free section.
It should be understood that various changes, substitutions and alterations can be made herein by those skilled in the art without departing from the spirit and scope of the invention.
Claims (6)
1. A travel control device is provided with:
a lane-free section detection unit that detects a lane-free section having no lane in front of a current position of the vehicle within a predetermined distance from the current position;
a position maintaining unit that controls travel of the vehicle so as to maintain a position of the vehicle relative to a width of the entire road in the lane-free section; and
and a lane changing unit that controls travel of the vehicle so as to move to a lane where the vehicle overlaps with the lane where the vehicle is located in a large area, in preference to the position maintaining unit, when the expected position of the vehicle at the end of the lane-free section crosses a lane line.
2. The travel control device according to claim 1, wherein,
when the overlap with the vehicle is equal in each of 2 lanes of a lane division line divided by the expected position of the vehicle, the lane changing unit controls the travel of the vehicle so as to move to a lane on the side where the travel lane is arranged on the road.
3. The travel control device according to claim 1, wherein,
when the overlap with the vehicle is equal in each of 2 lanes of a lane division line divided by an expected position of the vehicle, the lane changing unit controls the travel of the vehicle so as to move to a lane having a large distance to a preceding vehicle among the lanes when the vehicle reaches the expected position.
4. The running control apparatus according to any one of claims 1 to 3, wherein,
the vehicle control device further includes a notification unit that notifies a driver of the vehicle of a request to hold the steering wheel from when the lane-free section is detected to when the vehicle reaches the lane-free section.
5. The travel control device according to claim 4, wherein,
the steering control unit is further provided with a steering control unit that reduces a reaction force against an operation of the steering wheel during travel in the lane-free section, compared with the reaction force during travel in a section other than the lane-free section.
6. A running control method comprising:
in front of the vehicle within a predetermined distance from the current position of the vehicle, detecting a lane-free section without a lane,
controlling the travel of the vehicle in such a manner that the position of the vehicle with respect to the width of the entire road is maintained in the lane-free section,
when the expected position of the vehicle at the end of the lane-free section crosses a lane dividing line, the travel of the vehicle is controlled so as to move to a lane having a large overlap with the vehicle in preference to the control of the vehicle.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2020-142816 | 2020-08-26 | ||
| JP2020142816A JP7384127B2 (en) | 2020-08-26 | 2020-08-26 | Travel control device and travel control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114103952A CN114103952A (en) | 2022-03-01 |
| CN114103952B true CN114103952B (en) | 2023-11-07 |
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| JP2018206129A (en) * | 2017-06-06 | 2018-12-27 | トヨタ自動車株式会社 | Lane change assist device |
| CN110603428A (en) * | 2017-05-16 | 2019-12-20 | 三菱电机株式会社 | Display control device and display control method |
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| JP4721279B2 (en) * | 2006-03-29 | 2011-07-13 | 富士重工業株式会社 | Lane tracking support device |
| WO2014109151A1 (en) * | 2013-01-10 | 2014-07-17 | 日産自動車株式会社 | Steering control device |
| JP6323402B2 (en) | 2015-07-01 | 2018-05-16 | 株式会社デンソー | In-lane travel control device, in-lane travel control method |
| JP6304177B2 (en) * | 2015-09-01 | 2018-04-04 | トヨタ自動車株式会社 | Driving assistance device |
| JP6384446B2 (en) * | 2015-10-14 | 2018-09-05 | 株式会社デンソー | Vehicle control apparatus and vehicle control method |
| JP6575479B2 (en) * | 2016-10-13 | 2019-09-18 | トヨタ自動車株式会社 | Lane maintenance support device |
| US11173906B2 (en) * | 2017-02-03 | 2021-11-16 | Honda Motor Co., Ltd. | Vehicle control system, vehicle control method, and storage medium |
| JP6543828B2 (en) | 2017-06-01 | 2019-07-17 | 本田技研工業株式会社 | Vehicle control system, vehicle control method, and vehicle control program |
| JP6828714B2 (en) | 2018-05-30 | 2021-02-10 | 株式会社Ｓｏｋｅｎ | Self-position estimator |
| GB2579020B (en) * | 2018-11-14 | 2021-05-12 | Jaguar Land Rover Ltd | Vehicle control system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110603428A (en) * | 2017-05-16 | 2019-12-20 | 三菱电机株式会社 | Display control device and display control method |
| JP2018206129A (en) * | 2017-06-06 | 2018-12-27 | トヨタ自動車株式会社 | Lane change assist device |
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| CN114103952A (en) | 2022-03-01 |
| JP7384127B2 (en) | 2023-11-21 |
| JP2022038356A (en) | 2022-03-10 |
| US20220063721A1 (en) | 2022-03-03 |
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